US10386459B2

US10386459B2 - Echo image display device

Info

Publication number: US10386459B2
Application number: US15/441,321
Authority: US
Inventors: Kazunobu Iwata
Original assignee: Furuno Electric Co Ltd
Current assignee: Furuno Electric Co Ltd
Priority date: 2016-02-25
Filing date: 2017-02-24
Publication date: 2019-08-20
Also published as: US20170248684A1; JP2017150991A

Abstract

An echo image display device includes a receiver, an information memory, an intermediate image production component, and a display component. The receiver is configured to receive a reception signal that is a reflection of a transmitted signal. The information memory is configured to store detection information about the reception signal received by the receiver and position information about the reception signal in association with each other. The intermediate image production component is configured to produce an intermediate image based on at least the detection information for the reception signal at an N-th scan, and the detection information for the reception signal at an N−1-th scan having the same position information as the position information for the reception signal at the N-th scan. The display component is configured to display the intermediate image produced by the intermediate image production component.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Japanese Patent Application No. 2016-034725 filed on Feb. 25, 2016. The entire disclosure of Japanese Patent Application No. 2016-034725 is hereby incorporated herein by reference.

BACKGROUND

Field of the Invention

The present invention relates to an echo image display device that displays an echo image.

Background Information

There are conventional detection devices that transmit a detection signal, receive the reflected wave that comes back from a target, etc., and produces and displays a detection image (echo image). Japanese Patent No. 5,416,935 (Patent Literature 1) discloses a radar device as this type of detection device.

The radar device in Patent Literature 1 comprises a controller that computes an interpolation image suited to a plurality of interpolation scales for interpolating the scale before and after a change in range, and an image after a change in range that is suited to the scale after a change in range, and a display component that displays the interpolation image in the plurality of interpolation scales, from the scale before a change in range up to the scale after the change in range, when the range is changed. The configuration in Patent Literature 1 makes it possible for an image to be displayed right away in the scale after the change, without deleting the detection images accumulated up to that point, when there is a change in range.

SUMMARY

A radar image displayed on the display component of a radar device (radar image display device, echo image display device) changes not only when the detection range is changed as discussed above, but also when the surrounding situation changes (such as when the moving body on which the radar device is installed moves). What is displayed on the screen is refreshed every time the radar antenna rotates 360°, but since it usually takes a few seconds for the radar antenna to make one rotation, the transition of the display screen becomes coarser, which can look odd to the user.

In this respect, the above-mentioned Patent Literature 1 discloses that an interpolation image related to the scale during a change in range is produced and displayed, but a situation in which the display of a radar image obtained by scanning at a given range is neither disclosed nor implied.

The present invention was conceived in light of the above situation, and it is an object thereof to provide an echo image display device with which there are fewer coarse changes in the echo image over time, and a change in information about a detection object (detection region) can be expressed with an ample amount of information.

The problem to be solved by the present invention is as discussed above, and the means for solving this problem, and the effect thereof, will now be described.

One aspect of the present invention provides an echo image display device with the following configuration. Specifically, this echo image display device comprises a receiver, an information memory, an intermediate image production component, and a display component. The receiver is configured to receive a reception signal that is a reflection of a transmitted signal. The information memory is configured to store detection information about the reception signal received by the receiver and position information about the reception signal in association with each other. The intermediate image production component is configured to produce an intermediate image based on at least the detection information for the reception signal at an N-th scan, and the detection information for the reception signal at an N−1-th scan having the same position information as the position information for the reception signal at the N-th scan. The display component is configured to display the intermediate image produced by the intermediate image production component.

Consequently, an intermediate image is produced separately from the echo image produced based on the reception signals, which gives an echo image that fully reflects information about the detection object (detection region). Therefore, the above configuration allows a change in information about the detection object (detection region) to be expressed with an ample amount of information.

With the above-mentioned echo image display device, it is preferable if the display component is configured to display the intermediate image after displaying an echo image based on the reception signal at the N−1-th scan, and before displaying an echo image based on the reception signal at the N-th scan.

Consequently, a temporal change in information about the detection object (detection region) can be expressed without seeming odd.

With the above-mentioned echo image display device, it is preferable if the intermediate image production component is configured to produce the intermediate image by linear interpolation using the detection information for the reception signal at the N-th scan, and the detection information for the reception signal at the N−1-th scan having the same position information as the position information for the reception signal at the N-th scan.

Consequently, the process in which the echo image that is displayed changes from an echo image based on the reception signal for the N−1-th scan to an echo image based on the reception signal for the N-th scan can be reflected by the intermediate image that is produced. Also, the intermediate image can be produced by simple computation using linear interpolation.

With the above-mentioned echo image display device, it is preferable if the intermediate image production component is configured to produce the intermediate image by curve interpolation using at least the detection information for the reception signal at the N-th scan, the detection information for the reception signal at the N−1-th scan having the same position information as the position information for the reception signal at the N-th scan, and the detection information for the reception signal at the N−2-th scan having the same position information as the position information for the reception signal at the N-th scan.

In this case, the process of change in a plurality of echo images produced based on reception signals can be smoothly reflected. Specifically, the process of change in the detection object (detection region) can be expressed smoothly.

With the above-mentioned echo image display device, it is preferable if the intermediate image production component is configured to produce the intermediate image based on at least a motion vector estimating a motion of an image between an echo image produced based on the reception signal at the N-th scan and an echo image produced based on the reception signal at the N−1-th scan.

In this case, because an intermediate image is produced according to the motion vector interpolation method, the process of change in the detection object (detection region) can be expressed more naturally.

It is preferable if the above-mentioned echo image display device has the following configuration. Specifically, the information memory is configured to store the position information and the detection information for a specific detection region. The intermediate image production component is configured to produce the intermediate image for the detection region every time the entire detection region is scanned.

Consequently, the change in the echo image over a specific detection region can be continuously and smoothly displayed.

It is preferable if the above-mentioned echo image display device has the following configuration. Specifically, this echo image display device comprises an estimation component configured to estimate a future change in an echo image produced based on the reception signal. The echo image produced based on the reception signal at the N-th scan being a future echo image estimated by the estimation component.

Consequently, since the intermediate image is produced based on the future echo image estimated by the estimation component, the intermediate image can be displayed at an early stage, which makes the display more real-time.

BRIEF DESCRIPTION OF THE DRAWINGS

Referring now to the attached drawings which form a part of this original disclosure:

FIG. 1 is a simplified oblique view of the configuration of a radar image display device pertaining to a first embodiment of the present invention;

FIG. 2 is a block diagram of the configuration of the radar image display device;

FIG. 3 is a graph of the change in display strength of a radar image at certain positional coordinates;

FIG. 4 is a diagram illustrating how an intermediate image is displayed so as to compensate between one radar image and another; and

FIG. 5 is a block diagram of the configuration of the radar image display device pertaining to a second embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

Selected embodiments will now be explained with reference to the drawings. It will be apparent to those skilled in the art from this disclosure that the following descriptions of the embodiments are provided for illustration only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

FIG. 1 is a simplified oblique view of the configuration of a radar image display device 100 pertaining to a first embodiment of the present invention. FIG. 2 is a block diagram of the configuration of the radar image display device 100.

The radar image display device (echo image display device) 100 in the first embodiment functions as a display component in a radar device installed on a ship (moving body). This radar image display device 100 is electrically connected to a radar antenna 90, receives reception signals from this radar antenna 90, and can produce and display radar images that reflect the status of a detection object (detection region).

The radar antenna 90 is configured to be able to rotate 360° in a horizontal plane, and detects information about an island, another vessel, or another such target (detection object) around the ship by scanning the surrounding region by transmitting microwaves (electromagnetic waves, etc.) with a short wavelength as a detection signal (transmission signal). More specifically, the radar antenna 90 transmits electromagnetic waves with high directionality, and receives echoes (reflected waves) from targets within the detection region, thereby acquiring information about the targets, and outputs the acquired information to the radar image display device 100.

The radar image display device 100 receives information as a reception signal from the radar antenna 90, finds the distance, size, and azimuth of a target based on the received reception signal, produces a radar image (echo image), and displays this on a display (display component) 10.

As shown in FIG. 1, the radar image display device 100 comprises the display 10, an interface 20, and an information processor 30.

The display 10 is constituted by a liquid crystal display or the like, and can display a radar image in response to a display command from the information processor 30. This radar image is a two-dimensional expression of the position and shape of a detection object in a circular detection region.

The interface 20 is disposed near the display 10, and comprises suitable input members. Examples of input members include a track ball, buttons, and a keyboard, but these are not the only options. The user operates the interface 20 to give various instructions to the radar image display device 100 (such as designating the detection region, or switching between a mode in which an intermediate image (discussed below) is displayed and a mode in which it is not displayed).

As shown in FIG. 2, the information processor 30 comprises a radar signal transceiver (receiver) 31, a radar signal processor 32, a radar image production component 33, an image memory (information memory) 34, and an intermediate image production component 35.

The radar signal transceiver 31 can produce transmission signals (such as electromagnetic waves) at a specific transmission timing and output them to the radar antenna 90. The radar signal transceiver 31 can then input as a reception signal the information from the reflected wave of the detection signal transmitted by the radar antenna 90, and subject this reception signal to amplification, filtering, A/D conversion, etc.

The radar signal processor 32 subjects the reception signal inputted from the radar signal transceiver 31 to pulse compression processing, gain adjustment, processing to remove sea return and the like, scan correlation, and other such processing. The radar signal processor 32 then outputs the reception signal that has undergone signal processing to the radar image production component 33.

The radar image production component 33 is configured to produce a radar image in PPI (plan position indicator) scope format based on the reception signal that has undergone signal processing. The radar image production component 33 acquires the distance to a target based on the time difference between the point at which the radar antenna 90 transmitted the transmission signal and the point at which the reflected wave was received. The radar image production component 33 also acquires the direction in which the target is located based on the orientation of the radar antenna 90 at the point when the transmission signal was transmitted.

Specifically, the radar image produced by the radar image production component 33 includes various kinds of detection information obtained by the transmission and reception of signals. After producing a radar image, the radar image production component 33 outputs that radar image to the image memory 34 and the intermediate image production component 35.

The image memory 34 can store the radar image inputted from the radar image production component 33 for at least the two immediately prior scans. In this Specification, the term “scan” refers to an operation in which the entire detection region is scanned one time. A “scan” in a radar device means an operation in which the radar antenna 90 makes one rotation.

To describe this in more specific terms, every time the radar antenna 90 makes one scan, the radar image production component 33 outputs to the image memory 34 a radar image P produced based on the reception signal received for that scan. Every time a radar image P is inputted from the radar image production component 33, the image memory 34 discards the radar image for the oldest scan from the memory content, and newly stores the inputted radar image. Therefore, if we call the latest scan the N-th scan, the image memory 34 functions as a buffer that always stores a radar image P_Nbased on the N-th scan and a radar image P_N-1based on the N−1-th scan. The image memory 34 can output the stored radar images P_Nand P_N-1to the intermediate image production component 35 as needed.

In this embodiment, the radar image P defines polar coordinates (r,θ) centered on the radar antenna 90, and is expressed as a grouping of signal strength data S at these coordinates (r,θ). The image memory 34 can store the signal strength data (detection information) S in association with the coordinates (position information) at which the signal was acquired.

The intermediate image production component 35 produces an image (intermediate image) for compensating for the interval between the radar images P_Nand P_N-1based on the two radar images P_Nand P_N-1inputted from the image memory 34, and outputs this image to the display 10.

As described above, the radar image display device 100 in this embodiment comprises the intermediate image production component 35, and can produce an intermediate image of the radar images P_Nand P_N-1obtained for two continuous scans, and display this image on the display 10. Consequently, coarse changes in the radar image at each scan can be suppressed, and how the status of the detection region changes can be expressed more smoothly.

The graph in FIG. 3 will now be described in detail. FIG. 3 shows the change in display strength of a radar image at certain coordinates (r,θ), with time plotted on the horizontal axis and display strength (or the actual signal strength) on the vertical axis.

Points S₀to S₇in FIG. 3 are the strength (that is, amplitude) of an actual reception signal at certain coordinates (r,θ). The strengths S₀to S₇of the reception signal corresponds to radar images P₀to P₇. The current time in the graph in FIG. 3 is indicated by t_CUR, and the strength of the latest reception signal is the strength S₇of the signal included in the radar image P₇based on the seventh scan. Information about the strengths S₀to S₇of the signal is obtained for each scan period T_SCAN(discretely), indicated by the times t₀to t₇.

With a conventional radar device, the display strength of a radar image at certain coordinates (r,θ) changes at the point when the sweep line (scan line) that rotates over the radar image passes through the above-mentioned positional coordinates, and does not change at any other point. Therefore, with a conventional radar device, the display strength of a radar image changes intermittently as indicated by the thin line that changes in steps every time one scan period elapses in the graph in FIG. 3.

In this regard, the radar image display device 100 in this embodiment is configured such that the display strength at the current time t_CURat certain coordinates (r,θ) will be an intermediate signal strength S_Mcalculated so as to compensated for the interval between the strength S₇based on the latest scan and the strength S₆based on the scan just before that. This intermediate signal strength S_Mis calculated so as to exhibit a value close to S₇if the point in time that is one scan period T_SCANin the past from the current time t_CURis closer to the timing of the latest scan (the time t₁at which the signal of S₇was obtained), and to exhibit a value that is close to S₆if this point in time is closer to the timing of the scan just before that (the time t₆at which the signal of S₆was obtained).

To put the above-mentioned processing another way, focusing on the image, the image displayed on the display 10 at the current time t_CURwill be an intermediate image P_Mcalculated so as to compensate for the interval between the radar image P₇based on the latest scan and the radar image P₆based on the scan just before that.

Only one of the radar images P₀to Pi is obtained during one scan period, but as many of the intermediate images P_Mcan be produced as the calculation load will allow. Therefore, the image refresh time interval can be shorted in the display 10, and the change in the status of the detection region can be expressed as a smooth change in the image.

The specific processing performed by the intermediate image production component 35 will now be described. In this embodiment, the radar image P produced by the radar image production component 33 is represented as a grouping of signal strength data S corresponding to the coordinates (r,θ) in the above-mentioned polar coordinate system.

If we let S_Nbe the signal strength obtained in the latest (N-th) scan at certain coordinates (r,θ), t_Nbe the time at which this signal strength was obtained, S_N-1be the signal strength obtained one scan before (the N−1-th) at the same coordinates (r,θ), and t_N-1be the time at which this signal strength was obtained, the intermediate image production component 35 uses the following formula (1) to find the display strength S_CUR(intermediate signal strength S_M) at these coordinates at the current time t_CUR.

\begin{matrix} [Formula 1] \\ S_{CUR} = S_{M} = \frac{S_{N} - S_{N - 1}}{t_{N} - t_{N - 1}} \cdot (t_{CUR} - T_{SCAN} - t_{N - 1}) + S_{N - 1} & (1) \end{matrix}

Here, T_SCANis one scan period.

The intermediate image P_Mis obtained by calculating the intermediate signal strength S_Mbased on this linear interpolation formula for all of the coordinates (r,θ). The intermediate image P_Mthus obtained is then transiently displayed, so that the process by which the status of the detection region changes can be continuously expressed with an ample amount of information.

FIG. 4 shows the transition of the display content when two intermediate images are produced and displayed so as to compensate for the interval between two radar images. In FIG. 4, for the sake of explanation of the drawing, the spacing of the hatching decreases as the display strength of the image increases. As shown in FIG. 4, a temporal change in information about the surroundings of the host vessel can be expressed in a natural way by displaying an intermediate image between radar images that are actually acquired. More specifically, since the display content on the display 10 changes smoothly, it is anticipated that movement of another vessel or another such target can be more understood intuitively. Also, the impression that the change in the radar image gives to the user will be more attractive, giving a sense of higher quality.

Linear interpolation is used as the method for producing the intermediate image P_Min this embodiment. This allows the calculation processing to be simplified. However, the configuration may, for example, be such that three or more radar images (in other words, the signal strength S_Nat the latest scan, the signal strength S_N-1at the scan just before that, and the signal strength S_N-2two scans before that) can be stored in the image memory 34, and curve interpolation (such as interpolation with a quadratic curve) may be performed based on these radar images. In this case, an even more natural change in the display content can be achieved.

Also, the motion vector of a block (target) can be calculated by block matching, and the intermediate image (interpolation image) P_Mcan be produced based on the calculated motion vector (motion vector interpolation). Since motion vector interpolation is well known, it will not be described in detail herein. This configuration allows a change in the situation surrounding the host vessel to be expressed more naturally.

The intermediate image P_Mneed not be produced for the entire detection region. For instance, if a certain partial region is designated and the radar image is displayed in a separate window, the production and display of the intermediate image P_Mmay be performed for just this partial region. In this case, the image memory 34 can be configured to store the radar images P_Nand P_N-1for the above-mentioned partial region.

With the configuration in this embodiment, as understood from that there is a term −T_SCANin the formula (1) above, there is a time lag equivalent to one scan interval until a change in the surrounding situation is reflected in a change in the radar image (see the thick line in the graph in FIG. 3). For example, if the rotational speed of the radar antenna 90 is 24 rpm, then one scan interval T_SCANis 2.5 seconds, so the time lag would not generally be considered a major problem, but a situation in which this would not be acceptable is conceivable.

In this respect, with the radar image display device 100 in this embodiment the user can operate the interface 20 to switch between a mode in which this intermediate image is displayed and a mode in which the intermediate image is not displayed. In the mode in which the intermediate image is not displayed, the image produced by the radar image production component 33 shown in FIG. 2 is outputted directly to the display 10. With this configuration, if particular importance is placed on having the radar image be real-time, the user can switch to the mode in which the intermediate image is not displayed, so that the display will be suited to the situation.

As described above, the radar image display device 100 in this embodiment comprises the radar signal transceiver 31, the image memory 34, the intermediate image production component 35, and the display 10. The radar signal transceiver 31 receives a reception signal produced when a transmitted signal is reflected. The image memory 34 stores the strength S of the reception signal received by the radar signal transceiver 31 in association with the coordinates (r,θ) indicating the position of the reception signal. The intermediate image production component 35 produces the intermediate image P_Mbased on at least the strength S_Nof the reception signal received at the N-th scan, and the strength S_N-1of the reception signal received at the N−1-th scan having the same coordinates (r,θ) as the coordinates (r,θ) of the reception signal. The display 10 displays the intermediate image P_Mproduced by the intermediate image production component 35.

Consequently, by producing the intermediate image P_Mseparately from the radar images P_Nand P_N-1produced based on the received reception signals, an image can be obtained that reflects information about the detection object (detection region). Therefore, with the above configuration, a change in the information about the detection object (detection region) can be expressed with an ample amount of information.

A second embodiment will now be described. FIG. 5 is a block diagram of the configuration of the radar image display device 100 x pertaining to the second embodiment. In the description of this embodiment, those members that are the same as or analogous to the embodiment given above will be numbered the same in the drawings, and may not be described again.

As shown in FIG. 5, the radar image display device 100 x in this embodiment comprises a radar image estimator 36. The radar image estimator 36 uses a plurality of radar images stored in the image memory 34 (the radar image based on the latest scan, and the radar image based on the scan just before that) to estimate by calculation the radar image that will be obtained in the next scan. This estimation can be accomplished in a variety of ways, but estimation by linear approximation can be used, for example.

In the description of this embodiment, the next (future) scan is called the N-th scan. Therefore, the latest scan for which a radar image has already been obtained corresponds to the N−1-th scan, and the scan just before that corresponds to the N−2-th scan.

The radar image P_N(the radar image for the next scan) estimated by the radar image estimator 36 is outputted to the intermediate image production component 35. The intermediate image production component 35 produces the intermediate image P_Mso as to compensate for the interval between the radar image P_Nobtained by estimation and the radar image P_N-1obtained in the latest scan, and displays the result. Consequently, the lag equal to one scan period in the first embodiment above is eliminated, so the intermediate image P_Mcan be displayed earlier, making the display of the radar image more real-time.

A number of preferred embodiments of the present invention were described above, but the above configuration can be modified as follows, for example.

In the above embodiment, the switching between a mode in which the intermediate image is displayed and a mode in which it is not displayed is performed by user input. However, the configuration may be such that if the speed of the host vessel is above a certain value, for example, or if it is detected that the target is approaching the host vessel, the system automatically switches from a mode in which the intermediate image is displayed to a mode in which it is not displayed.

The polar coordinates (r,θ) were used in the above embodiments as the coordinates used for producing the intermediate image, but some other coordinates may be used instead (such as a rectangular coordinate system (X,Y)).

The intermediate image need not be just simply displayed on the display 10, and can also be used for target tracking (TT), which is a known technique for detecting the movement of a target, for example.

Some other method may be used to produce the intermediate image (such as a known image processing method called morphing).

With a Doppler radar in which the movement speed of a target is acquired by utilizing the Doppler effect, an intermediate image may be produced in order to compensate for the interval between radar images expressing the Doppler speed, which is detection information.

In the above embodiment, a rotating sweep line is not displayed on the display 10 because the image changes smoothly. However, the configuration can be such that a sweep line is displayed on the display 10.

The radar can also be installed in a moving body other than a ship, and can be installed in something other than a moving body (such as a building).

The present invention is not limited to a device for displaying the echo images of a radar. For instance, it can also be applied to a device for displaying echo images in sonar, which detects objects in the water by using sound waves.

In understanding the scope of the present invention, the term “comprising” and its derivatives, as used herein, are intended to be open ended terms that specify the presence of the stated features, elements, components, groups, integers, and/or steps, but do not exclude the presence of other unstated features, elements, components, groups, integers and/or steps. The foregoing also applies to words having similar meanings such as the terms, “including”, “having” and their derivatives. Also, the terms “part,” “section,” “portion,” “member” or “element” when used in the singular can have the dual meaning of a single part or a plurality of parts.

While only a selected embodiment has been chosen to illustrate the present invention, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made herein without departing from the scope of the invention as defined in the appended claims. Furthermore, the foregoing descriptions of the embodiments according to the present invention are provided for illustration only, and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

Claims

What is claimed is:

1. An echo image display device comprising:

a receiver configured to receive a reception signal that is a reflection of a transmitted signal;

an information memory configured to store detection information about the reception signal received by the receiver and position information about the reception signal in association with each other;

processing circuitry configured to produce an intermediate image based on at least the detection information for the reception signal at a current scan, and the detection information for the reception signal at a previous scan having the same position information as the position information for the reception signal at the current scan; and

a display that displays the intermediate image produced by the processing circuitry after displaying a previous echo image based on the reception signal at the previous scan and before displaying a current echo image based on the reception signal at the current scan.

2. The echo image display device according to claim 1, wherein

the processing circuitry is configured to produce the intermediate image by linear interpolation using the detection information for the reception signal at the current scan, and the detection information for the reception signal at the previous scan having the same position information as the position information for the reception signal at the current scan.

3. The echo image display device according to claim 2, wherein

the information memory is configured to store the position information and the detection information for a specific detection region, and

the processing circuitry is configured to produce the intermediate image for the detection region every time the entire detection region is scanned.

4. The echo image display device according to claim 3, wherein

the processing circuitry is configured to produce multiple intermediate images based on at least the detection information for the reception signal at the current scan, and the detection information for the reception signal at the previous scan having the same position information as the position information for the reception signal; and

the display displays the multiple intermediate images produced by the processing circuitry after displaying a previous echo image based on the reception signal at the previous scan and before displaying a current echo image based on the reception signal at the current scan.

5. The echo image display device according to claim 2, further comprising

an estimator configured to estimate a future change in an echo image produced based on the reception signal,

the echo image produced based on the reception signal at the current scan being a future echo image estimated by the estimator.

6. The echo image display device according to claim 2, wherein

7. The echo image display device according to claim 1, wherein

the processing circuitry is configured to produce the intermediate image by curve interpolation using at least the detection information for the reception signal at the current scan, the detection information for the reception signal at the previous scan having the same position information as the position information for the reception signal at the current scan, and the detection information for the reception signal at a scan before the previous scan having the same position information as the position information for the reception signal at the current scan.

8. The echo image display device according to claim 7, wherein

9. The echo image display device according to claim 7, further comprising

10. The echo image display device according to claim 7, wherein

11. The echo image display device according to claim 1, wherein

the processing circuitry is configured to produce the intermediate image based on at least a motion vector estimating a motion of an image between an echo image produced based on the reception signal at the current scan and an echo image produced based on the reception signal at the previous scan.

12. The echo image display device according to claim 11, wherein

13. The echo image display device according to claim 11, further comprising

14. The echo image display device according to claim 11, wherein

15. The echo image display device according to claim 1, wherein

16. The echo image display device according to claim 15, further comprising

17. The echo image display device according to claim 15, wherein

18. The echo image display device according to claim 1, further comprising

19. The echo image display device according to claim 18, wherein

20. The echo image display device according to claim 1, wherein